Mobile robot and controlling method of the same

Patent metadata

Field	Value
Publication number	US-8954191-B2
Application number	US-71838010-A
Country	US
Kind code	B2
Filing date	Mar 5, 2010
Priority date	Mar 6, 2009
Publication date	Feb 10, 2015
Grant date	Feb 10, 2015

Abstract

Disclosed is a mobile robot and a controlling method of the same. An entire movement region is divided into a plurality of regions, and a partial map is gradually made by using feature points of a plurality of images of the divided regions. Then, the map is compensated into a closed curved line, thereby making an entire map. Furthermore, when the mobile robot is positioned at a boundary of neighboring regions of the cleaning region, the boundary where a closed curved line is formed, the mobile robot compensates for its position based on a matching result between feature points included in the map, and feature points extracted from images captured during a cleaning process.

First claim

What is claimed is:

1. A method for a mobile robot, the method comprising:
dividing an entire region to be cleaned into a plurality of movement regions;
obtaining image information at a predetermined time interval while moving within each of the plurality of movement regions;
extracting feature points from the obtained image information, and making sub maps corresponding to each of the plurality of movement regions based on the extracted feature points;
determining whether respective movement paths, generated by movement of the mobile robot, corresponding to the each of the plurality of movement regions form a closed curved line by checking whether a starting moving point and an ending moving point of the respective movement paths are the same as each other;
compensating a sub map having a movement path, not forming a closed curved line, by connecting a starting point and an ending point of the movement path; and
making a map of the entire region by connecting the sub maps.

2. The method of claim 1 , further comprising calculating position information varied according to the movement of the mobile robot.

3. The method of claim 2 , wherein the step of obtaining image information comprises obtaining two or more images at different positions of the movement region.

4. The method of claim 3 , further comprising matching feature points of the two more images with each other.

5. The method of claim 4 , wherein the step of making a map comprises making a map on a current movement position based on the matching information of the feature points, and the calculated position information.

6. The method of claim 1 , comprising;
obtaining image information of a cleaning region corresponding to one of a plurality of the sub maps to be cleaned at predetermined time intervals while performing a cleaning process along the one of the sub maps;
extracting feature points from the obtained image information, and matching extracted feature points with feature points included in the one of the sub maps; and
compensating for a position of the mobile robot based on a matching result between the feature points,
wherein the compensated position of the mobile robot is performed when the mobile robot is positioned at a boundary between the one sub map and neighboring sub maps of the plurality of the sub maps, the boundary where a closed curved line is formed.

7. The method of claim 6 , wherein the step of compensating for a position of the mobile robot comprises compensating for a position of the mobile robot when the number of the matched feature points is more than a reference value.

8. The method of claim 6 , wherein the step of compensating for a position of the mobile robot comprises re-executing at least one of the method steps when the number of the matched feature points is less than a reference value.

9. A mobile robot, comprising:
a detection unit configured to obtain image information at a predetermined time interval while moving within each of a plurality of movement regions; and
a control unit configured to divide an entire region to be cleaned into the plurality of movement regions, to extract feature points from the obtained image information, to make sub maps corresponding to each of the plurality of movement regions based on the extracted feature points, to determine whether respective movement paths, generated by movement of the mobile robot, corresponding to the each of the plurality of movement regions form a dosed curved line by checking whether a starting moving point and an ending moving point of the respective movement paths are the same as each other, to compensate a sub map having a movement path, not forming a closed curved line, by connecting a starting point and an ending point of the movement path and to make a map of the entire region by connecting the sub maps.

10. The mobile robot of claim 9 , further comprising a position detection unit configured to calculate position information varied according to the movement of the mobile robot.

11. The mobile robot of claim 10 , wherein the control unit comprises:
an image processor configured to match the extracted feature points of two or more images with each other; and
a movement controller configured to control movement of the mobile robot.

12. The mobile robot of claim 11 , wherein the control unit is configured to make a map on a current movement position based on the matching information of the feature points, and the calculated position information.

13. The mobile robot of claim 9 , wherein the control unit is configured to extract feature points from image information obtained while performing a cleaning process along a pre-made map, and to match the extracted feature points with feature points included in the map,
wherein the control unit is configured to compensate for its position based on a matching result between the feature points.

14. A mobile robot, comprising:
detector configured to obtain image information at a time interval while moving within each of a plurality of movement regions; and
a controller configured to divide a region to be cleaned into the plurality of movement regions, to extract feature points from the obtained image information, to make sub maps corresponding to each of the plurality of movement regions based on the extracted feature points, to determine whether respective movement paths, generated by movement of the mobile robot, corresponding to the each of the plurality of movement regions form a closed figure by checking whether a starting moving point of the figure and an ending moving point of the figure are the same as each other, to compensate a sub map having a movement path that forms an open figure, by connecting a starting point and an ending point of the open figure, and to make a map of the entire region by connecting the sub maps.

15. The mobile robot of claim 14 , further comprising a position detector configured to calculate position information which varies according to the movement of the mobile robot.

16. The mobile robot of claim 15 , wherein the controller comprises:
an image processor configured to match the extracted feature points of two or more images with each other; and a movement controller configured to control movement of the mobile robot.

17. The mobile robot of claim 16 , wherein the controller is configured to make a map on a current movement position based on the matching information of the feature points, and the calculated position information.

18. The mobile robot of claim 14 , wherein the controller is configured to extract feature points from image information obtained while performing a cleaning process along a pre-made map, and to match the extracted feature points with feature points included in the map, wherein the control unit is configured to compensate for its position based on a matching result between the feature points.

Assignees

• Yi Dong Hoon
• Kim Young Gie
• Yoon Jeong Suk
• Lee Seong Soo
• Lee Jei Hun
• Baek Seung Min
• Choi Yoo Jin
• Na Sang Ik
• Choe Su Uk
• Kim Yie Bin
• Lg Electronics Inc

Inventors

• Yi Dong Hoon
• Kim Young Gie
• Yoon Jeong Suk
• Lee Seong Soo
• Lee Jei Hun
• Baek Seung Min
• Choi Yoo Jin
• Na Sang Ik
• Choe Su Uk
• Kim Yie Bin

Classifications

• G05D1/0255

  using acoustic signals, e.g. ultra-sonic singals (sonar systems designed for anti-collision purposes G01S15/93) · CPC title

• G05D2201/0203

  Physics · mapped topic

• G05D1/0246

  using a video camera in combination with image processing means · CPC title

• G05D1/0274 Primary

  using mapping information stored in a memory device (navigation using map-matching G01C21/30) · CPC title

• B25J13/08

  by means of sensing devices, e.g. viewing or touching devices · CPC title